I really don't mind bugs who are beneficial and who kill pests. I don't mind spiders and house centipedes, because they kill grain beetles, carpet beetles, and (gods forbid) bed bugs.

Actually, if you see a house centipede, there are probably good odds that you have some kind of beetle pest for them to be feeding on, which means you really don't want to kill them. House centipedes are harmless to humans and very shy. Now, if I had dozens of them, I'd do something about it, but I saw one scurry away once, and I didn't really bother looking for it.